Vehicle radar system

• US 6,215,438 B1
• Filed: 09/17/1999
• Issued: 04/10/2001
• Est. Priority Date: 06/28/1996
• Status: Expired due to Fees

• Current Assignee: Cambridge Solutions Limited (DXC Technology Company)
• Original Assignee: Cambridge Solutions Limited (DXC Technology Company)
• Inventors: Smith, Graeme Peter, Oswald, Gordon Kenneth Andrew, Clouston, Eric Nicol, Kerry, Nicholas John
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/214,247
• Time in Patent Office: 571 Days
• Field of Search: 342/27, 342/28, 342/29, 342/41, 342/61, 342/70, 342/71, 342/72, 342/175, 342/195, 342/104-118, 342/134, 342/135, 342/136, 342/147
• US Class Current: 342/70
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: G01S 13/003 Bistatic radar systems; Multistatic radar systems
• CPC Class Codes: G01S 13/0209 Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
• CPC Class Codes: G01S 13/18 wherein range gates are used
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9317 Driving backwards
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area

Abstract

A radar system adapted to be installed on a vehicle (1) is operable to detect objects in different fields of view of the system. The system has transceiver means (2, 3; 44, 46) for transmitting a radar signal and receiving the signal after the latter has been reflected from an object to be detected. A reflected signal is sampled by sampling means (12; 66) during a succession of sampling periods each of which is delayed with respect to a corresponding portion of the transmitted signal. The gating of the reflected signal effectively generates range shells, each of which corresponds to the time taken for a transmitted signal to reach an object at the shell, and to be reflected back to the system and is hence related to the delay between the transmission of the signal and the corresponding sampling period. The range shells define the field of view of the system, which can be changed by altering said delay. Such alterations are carried out under the control of control means which is connected to sensor means for detecting a property of the operation of the vehicle, determining a required position of the field of view, and setting the field of view of the system accordingly. The range shell positions, and hence fields of view, can also be changed by selecting alternative transmitters and/or receivers of the transceiver means. There is also shown a motor road vehicle which has a radar system comprising a pair of transmitter antennas at two alternate corner regions of the vehicle and a pair of cooperating receiver antennas of the other two corner regions. Certain embodiments of the system also have the facility to generate range shells which are swept over an area around the vehicle or which track detected objects.

Claims

1. A radar system for installation on a vehicle or other mobile machine and for detecting objects in differing fields of view of the system, the system comprising transceiver means for transmitting a radar signal and receiving the signal after the latter has been reflected from the reflecting surface of an object to be detected;

sampling means for sampling the output of the transceiver means during a sampling period, which is delayed with respect to a respective portion of the transmitted signal by a time delay corresponding to the time taken for that portion to travel to the reflecting surface when the latter is at a notional range shell, and then back to the receiving means, so that a reflected signal received during that period is indicative of the presence of a reflecting surface at the range shell, a respective field of view of the system being constituted by said range shell so that only reflecting surfaces on the range shell are detected;

control means for controlling the position of the field of view of the system and sensor means which is connected to the control means and is operable to detect at least one property of the operation of the vehicle, wherein the control means in use determines a required position of the field of view and sets the field of view of the system accordingly, in dependence on the output of the sensor means.

2. A system according to claim 1, in which the control means controls the field of view by controlling said delay and hence the distance of the range shell from the system.

3. A system according to claim 1, in which the transceiver means comprises at least one of a plurality of transmitter antennas for transmitting said signals and a plurality of receiver antennas for receiving reflected signals, the control means being operable to control the field of view by selecting which of the receiver antennas is to be sampled by at least one of the sampling means and which transmitter antenna is to transmit said signal.

4. A radar system according to claim 3, in which, with the system installed on a vehicle or object, the orientation of each antenna relative to the vehicle or object is fixed.

5. A radar system according to claim 1, in which the radar system comprises an impulse radar system, in which the transmitted signal comprises a succession of pulses, each of which constitutes a respective said portion of the transmitted signal.

6. A radar system according to claim 1, in which the control means, in use, detects fluctuations in the signal received in a succession of sampling periods, said fluctuations corresponding to an object entering or leaving a range shell.

7. A radar system according to claim 6, in which the control means, in use, also analyses the received signals to determine at least one of the principal frequency thereof and the time delay between detections at different range shells, and provides an estimate of the velocity of the object relative to the range shells.

8. A system according to claim 1, in which the control means in use, detects any DC offset of signal received over a succession of sampling periods with respect to a reference level to determine whether there is an object at the range shell which object is stationary relative to the range shell.

9. A radar system according to claim 1, in which the system is for installation on a motor road vehicle.

10. A radar system according to claim 9, in which the transceiver means comprises a plurality of antennas for mounting on a vehicle in such a way that, in use, the system is able to detect the presence of objects at any position around the vehicle, without altering the orientation of any of the antennas relative to the vehicle.

11. A radar system according to claim 10, in which the antennas are configured such that, when an antenna is mounted at a respective corner region of the vehicle, a 270°

field of view is provided at that corner.

12. A radar system according to claim 11, in which the antennas are incorporated into the vehicle bumpers.

13. A radar system according to claim 10, in which the transceiver means comprises two transmitter antennas adapted to be mounted at diagonally opposite corner regions of the vehicle, and two receiver antennas.

14. A radar system according to claim 13, in which the sensor means includes sensors for detecting at least one of the operation of the direction indicators and steering wheel movement of the vehicle, wherein the control means selects transmitter and receiver antennas to create range shells to the sides of the vehicle in response to signals from said sensors.

15. A radar system according to claim 9, in which the sensor means is operable to detect the selection of reverse gear on the vehicle, and the control means selects a range shell behind the vehicle in response to said selection.

16. A radar system according to claim 9, in which the sensor means to detects the velocity of the vehicle, the control means selecting range shells at one or more distances from the vehicle related to said velocity.

17. A radar system according to claim 9, in which the sensor means determines whether, and the speed with which the vehicle is travelling.

18. A system according to claim 17, in which the control means, in use, sets the range shell at a distance from the vehicle which increases with increasing speed of the vehicle in accordance with a predetermined relationship.

19. A radar system according to claim 18, in which that relationship is one in which the range shell distance is directly proportional to said speed, subject to a minimum range shell distance when the vehicle is stationary or slow moving.

20. A radar system according to claim 9, in which the transceiver means comprises a plurality of receiver antennas for mounting at different heights on the vehicle.

21. A radar system according to claim 20, in which said antennas are at least one of laterally and vertically spaced from each other.

22. A radar system according to claim 21, in which the control means, in use, locates the position of an obstacle sensed by the system relative to the vehicle and calculates the reflective power of the obstacle using information on antenna sensitivities of the system at that position.

23. A radar system according to claim 1, in which the control means progressively increases or decreases said time delay for successive periods so that the distances of successive range shells progressively increase or decrease, so that the range shells scan a given area.

24. A radar system according to claim 1, in which, upon detection of an obstacle at a given range shell, the control means is select further range shells in the vicinity of said given range shell so that the range shells, in effect, track the obstacle.

25. A surface vehicle fitted with a radar detection system according to claim 1, wherein the system comprises two transmitter antennas operable to transmit a series of pulses, and mounted at diagonally opposed corner regions of the vehicle, and two receiver antennas, which are operable to receive pulses reflected from other objects and which are mounted at the other corner regions of the vehicle.

26. A system according to claim 1, in which the system, in use, generates multiple range shells at different targets.